Related papers: Pose Estimation for Vehicle-mounted Cameras via Ho…

Object tracking is a key aspect in many applications such as augmented reality in medicine (e.g. tracking a surgical instrument) or robotics. Squared planar markers have become popular tools for tracking since their pose can be estimated…

The $\mathrm{SE}(3)$ invariants of a pose include its rotation angle and screw translation. In this paper, we present a complete comprehensive study of the relative pose estimation problem for a calibrated camera constrained by known…

The fusion of sensor data from heterogeneous sensors is crucial for robust perception in various robotics applications that involve moving platforms, for instance, autonomous vehicle navigation. In particular, combining camera and lidar…

The proposed system outlined in this paper is a solution to a use case that requires the autonomous picking of cuboidal objects from an organized or unorganized pile with high precision. This paper presents an efficient method for precise…

Finding the camera pose is an important step in many egocentric video applications. It has been widely reported that, state of the art SLAM algorithms fail on egocentric videos. In this paper, we propose a robust method for camera pose…

We address the problem of estimating the pose and shape of vehicles from LiDAR scans, a common problem faced by the autonomous vehicle community. Recent work has tended to address pose and shape estimation separately in isolation, despite…

Affine correspondences have traditionally been used to improve feature matching over wide baselines. While recent work has successfully used affine correspondences to solve various relative camera pose estimation problems, less attention…

Surveillance videos and images are used for a broad set of applications, ranging from traffic analysis to crime detection. Extrinsic camera calibration data is important for most analysis applications. However, security cameras are…

This paper presents a method for metric rectification of planar objects that preserves angles and length ratios. An inner structure of an object is assumed to follow the laws of Manhattan World i.e. the majority of line segments are aligned…

Multiple lidars are prevalently used on mobile vehicles for rendering a broad view to enhance the performance of localization and perception systems. However, precise calibration of multiple lidars is challenging since the feature…

Calibration of multi-camera systems is a key task for accurate object tracking. However, it remains a challenging problem in real-world conditions, where traditional methods are not applicable due to the lack of accurate floor plans,…

The goal of this paper is to estimate the viewpoint for a novel object. Standard viewpoint estimation approaches generally fail on this task due to their reliance on a 3D model for alignment or large amounts of class-specific training data…

Most sensor setups for onboard autonomous perception are composed of LiDARs and vision systems, as they provide complementary information that improves the reliability of the different algorithms necessary to obtain a robust scene…

The choice of poses for camera calibration with planar patterns is only rarely considered - yet the calibration precision heavily depends on it. This work presents a pose selection method that finds a compact and robust set of calibration…

Estimation of camera motion from a given image sequence becomes degraded as the length of the sequence increases. In this letter, this phenomenon is demonstrated and an approach to increase the estimation accuracy is proposed. The proposed…

In this paper, we present a novel linear algorithm to estimate the 6 DoF relative pose from consecutive frames of stereo rolling shutter (RS) cameras. Our method is derived based on the assumption that stereo cameras undergo motion with…

We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…

Visual localization on standard-definition (SD) maps has emerged as a promising low-cost and scalable solution for autonomous driving. However, existing regression-based approaches often overlook inherent geometric priors, resulting in…

Sharing virtual content among multiple smart glasses wearers is an essential feature of a seamless Collaborative Augmented Reality experience. To enable the sharing, local coordinate systems of the underlying 6D ego-pose trackers, running…

Some recent visual-based relocalization algorithms rely on deep learning methods to perform camera pose regression from image data. This paper focuses on the loss functions that embed the error between two poses to perform deep learning…